The instructions of how building your drone using a Beaglebone Blue are
explained in differents post. In order to summarize all steps I created this
entry. Here you can find an overview and the link of each post.

You have just got your beaglebone blue and want it to connect to your local
Wifi net read this post

How to install, run and connect Ardupilot to a ground station
read this post

Now you are ready to start assembling. How mounting the motors
read this post